Frame_params: Solo notch filter params

Adds the dynamic harmonic notch filter and static notch filter to the Solo's default parameters.  PID tuning parameters for the green cube Solo adjusted to take advantage of the better control.

Tools/Frame_params/Solo_Copter-3.7_BlackCube.param

@@ -69,6 +69,15 @@ GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45

Tools/Frame_params/Solo_Copter-3.7_GreenCube.param

@@ -15,14 +15,14 @@ ATC_ANG_PIT_P,10
 ATC_ANG_RLL_P,9
 ATC_ANG_YAW_P,6
 ATC_INPUT_TC,0.15
-ATC_RAT_PIT_D,0.006
-ATC_RAT_PIT_I,0.09
+ATC_RAT_PIT_D,0.0075
+ATC_RAT_PIT_I,0.270
 ATC_RAT_PIT_IMAX,0.444
-ATC_RAT_PIT_P,0.167
+ATC_RAT_PIT_P,0.270
 ATC_RAT_RLL_D,0.005
-ATC_RAT_RLL_I,0.12
+ATC_RAT_RLL_I,0.200
 ATC_RAT_RLL_IMAX,0.444
-ATC_RAT_RLL_P,0.086
+ATC_RAT_RLL_P,0.200
 ATC_RAT_YAW_FILT,5
 ATC_RAT_YAW_FLTE,5
 ATC_RAT_YAW_I,0.05
@@ -68,6 +68,15 @@ GPS_NAVFILTER,6
 GPS_TYPE,1
 INS_ACC_BODYFIX,3
 INS_FAST_SAMPLE,3
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49
 INS_TRIM_OPTION,2
 LAND_ALT_LOW,600
 LAND_SPEED,45

Tools/Frame_params/test params stock solo.param

@@ -0,0 +1,10 @@
+# New stock cube notch params for chris to try
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49

Tools/Frame_params/test params.param

@@ -0,0 +1,16 @@
+# New Green Cube tuning and notch params for chris to try
+ATC_RAT_PIT_D,0.008
+ATC_RAT_PIT_I,0.280
+ATC_RAT_PIT_P,0.280
+ATC_RAT_RLL_D,0.005
+ATC_RAT_RLL_I,0.108
+ATC_RAT_RLL_P,0.108
+INS_HNTCH_ATT,40
+INS_HNTCH_ENABLE,1
+INS_HNTCH_REF,0.26
+INS_HNTCH_FREQ,200
+INS_HNTCH_BW,100
+INS_NOTCH_ATT,40
+INS_NOTCH_ENABLE,1
+INS_NOTCH_FREQ,98
+INS_NOTCH_BW,49